/*
    FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
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     *    project by purchasing a FreeRTOS tutorial book, reference          *
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     *    Thank you!                                                         *
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    ***************************************************************************

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.

    >>! NOTE: The modification to the GPL is included to allow you to distribute
    >>! a combined work that includes FreeRTOS without being obliged to provide
    >>! the source code for proprietary components outside of the FreeRTOS
    >>! kernel.

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
    link: http://www.freertos.org/a00114.html

    1 tab == 4 spaces!

    ***************************************************************************
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*/

/* Standard includes. */
#include <stdlib.h>
#include <string.h>

/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
all the API functions to use the MPU wrappers.  That should only be done when
task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE

#include "Events.h"
#include "FRTOS1.h" /* interface to the runtime counter */

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "StackMacros.h"

/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
header files above, but not in this file, in order to generate the correct
privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */

#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
        /* At the bottom of this file are two optional functions that can be used
        to generate human readable text from the raw data generated by the
        uxTaskGetSystemState() function.  Note the formatting functions are provided
        for convenience only, and are NOT considered part of the kernel. */
        #include <stdio.h>
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */

/* Sanity check the configuration. */
#if configUSE_TICKLESS_IDLE != 0
        #if INCLUDE_vTaskSuspend != 1
                #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
        #endif /* INCLUDE_vTaskSuspend */
#endif /* configUSE_TICKLESS_IDLE */

/*
 * Defines the size, in words, of the stack allocated to the idle task.
 */
#define tskIDLE_STACK_SIZE      configMINIMAL_STACK_SIZE

/*
 * Task control block.  A task control block (TCB) is allocated for each task,
 * and stores task state information, including a pointer to the task's context
 * (the task's run time environment, including register values)
 */
typedef struct tskTaskControlBlock
{
        volatile portSTACK_TYPE *pxTopOfStack;          /*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */

        #if ( portUSING_MPU_WRAPPERS == 1 )
                xMPU_SETTINGS xMPUSettings;                             /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
        #endif

        xListItem                               xGenericListItem;       /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
        xListItem                               xEventListItem;         /*< Used to reference a task from an event list. */
        unsigned portBASE_TYPE  uxPriority;                     /*< The priority of the task.  0 is the lowest priority. */
        portSTACK_TYPE                  *pxStack;                       /*< Points to the start of the stack. */
        signed char                             pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */

        #if ( portSTACK_GROWTH > 0 )
                portSTACK_TYPE *pxEndOfStack;                   /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
        #endif

        #if ( portCRITICAL_NESTING_IN_TCB == 1 )
                unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
        #endif

        #if ( configUSE_TRACE_FACILITY == 1 )
                unsigned portBASE_TYPE  uxTCBNumber;    /*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
                unsigned portBASE_TYPE  uxTaskNumber;   /*< Stores a number specifically for use by third party trace code. */
        #endif

        #if ( configUSE_MUTEXES == 1 )
                unsigned portBASE_TYPE uxBasePriority;  /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
        #endif

        #if ( configUSE_APPLICATION_TASK_TAG == 1 )
                pdTASK_HOOK_CODE pxTaskTag;
        #endif

        #if ( configGENERATE_RUN_TIME_STATS == 1 )
                unsigned long ulRunTimeCounter;                 /*< Stores the amount of time the task has spent in the Running state. */
        #endif

        #if ( configUSE_NEWLIB_REENTRANT == 1 )
                /* Allocate a Newlib reent structure that is specific to this task.
                Note Newlib support has been included by popular demand, but is not
                used by the FreeRTOS maintainers themselves.  FreeRTOS is not
                responsible for resulting newlib operation.  User must be familiar with
                newlib and must provide system-wide implementations of the necessary
                stubs. Be warned that (at the time of writing) the current newlib design
                implements a system-wide malloc() that must be provided with locks. */
                struct _reent xNewLib_reent;
        #endif

} tskTCB;


/*
 * Some kernel aware debuggers require the data the debugger needs access to to
 * be global, rather than file scope.
 */
#ifdef portREMOVE_STATIC_QUALIFIER
        #define static
#endif

/*lint -e956 A manual analysis and inspection has been used to determine which
static variables must be declared volatile. */

PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;

/* Lists for ready and blocked tasks. --------------------*/
PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
PRIVILEGED_DATA static xList xDelayedTaskList1;                                                 /*< Delayed tasks. */
PRIVILEGED_DATA static xList xDelayedTaskList2;                                                 /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
PRIVILEGED_DATA static xList * volatile pxDelayedTaskList;                              /*< Points to the delayed task list currently being used. */
PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList;              /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
PRIVILEGED_DATA static xList xPendingReadyList;                                                 /*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */

#if ( INCLUDE_vTaskDelete == 1 )

        PRIVILEGED_DATA static xList xTasksWaitingTermination;                          /*< Tasks that have been deleted - but the their memory not yet freed. */
        PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;

#endif

#if ( INCLUDE_vTaskSuspend == 1 )

        PRIVILEGED_DATA static xList xSuspendedTaskList;                                        /*< Tasks that are currently suspended. */

#endif

#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )

        PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;                      /*< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */

#endif

/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks   = ( unsigned portBASE_TYPE ) 0U;
PRIVILEGED_DATA static volatile portTickType xTickCount                                                 = ( portTickType ) 0U;
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority               = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning                  = pdFALSE;
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended             = ( unsigned portBASE_TYPE ) pdFALSE;
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks                    = ( unsigned portBASE_TYPE ) 0U;
PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending                                     = pdFALSE;
PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows                                   = ( portBASE_TYPE ) 0;
PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber                                              = ( unsigned portBASE_TYPE ) 0U;
PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime                               = portMAX_DELAY;

#if ( configGENERATE_RUN_TIME_STATS == 1 )

        PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL;        /*< Holds the value of a timer/counter the last time a task was switched in. */
        PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL;                      /*< Holds the total amount of execution time as defined by the run time counter clock. */

#endif

/*lint +e956 */

/* Debugging and trace facilities private variables and macros. ------------*/

/*
 * The value used to fill the stack of a task when the task is created.  This
 * is used purely for checking the high water mark for tasks.
 */
#define tskSTACK_FILL_BYTE      ( 0xa5U )

/*
 * Macros used by vListTask to indicate which state a task is in.
 */
#define tskBLOCKED_CHAR         ( ( signed char ) 'B' )
#define tskREADY_CHAR           ( ( signed char ) 'R' )
#define tskDELETED_CHAR         ( ( signed char ) 'D' )
#define tskSUSPENDED_CHAR       ( ( signed char ) 'S' )

/*-----------------------------------------------------------*/

#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )

        /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
        performed in a generic way that is not optimised to any particular
        microcontroller architecture. */

        /* uxTopReadyPriority holds the priority of the highest priority ready
        state task. */
        #define taskRECORD_READY_PRIORITY( uxPriority )                                                                                                                                         \
        {                                                                                                                                                                                                                                       \
                if( ( uxPriority ) > uxTopReadyPriority )                                                                                                                                               \
                {                                                                                                                                                                                                                               \
                        uxTopReadyPriority = ( uxPriority );                                                                                                                                            \
                }                                                                                                                                                                                                                               \
        } /* taskRECORD_READY_PRIORITY */

        /*-----------------------------------------------------------*/

        #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                                                                                                                      \
        {                                                                                                                                                                                                                                       \
                /* Find the highest priority queue that contains ready tasks. */                                                                                                \
                while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )                                                                              \
                {                                                                                                                                                                                                                               \
                        configASSERT( uxTopReadyPriority );                                                                                                                                                     \
                        --uxTopReadyPriority;                                                                                                                                                                           \
                }                                                                                                                                                                                                                               \
                                                                                                                                                                                                                                                \
                /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of                                                                                \
                the     same priority get an equal share of the processor time. */                                                                                                      \
                listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, tskTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );                                              \
        } /* taskSELECT_HIGHEST_PRIORITY_TASK */

        /*-----------------------------------------------------------*/

        /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
        they are only required when a port optimised method of task selection is
        being used. */
        #define taskRESET_READY_PRIORITY( uxPriority )
        #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )

#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

        /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
        performed in a way that is tailored to the particular microcontroller
        architecture being used. */

        /* A port optimised version is provided.  Call the port defined macros. */
        #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )

        /*-----------------------------------------------------------*/

        #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                                                                              \
        {                                                                                                                                                                                               \
        unsigned portBASE_TYPE uxTopPriority;                                                                                                                   \
                                                                                                                                                                                                        \
                /* Find the highest priority queue that contains ready tasks. */                                                        \
                portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );                                                          \
                configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );         \
                listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, tskTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );           \
        } /* taskSELECT_HIGHEST_PRIORITY_TASK() */

        /*-----------------------------------------------------------*/

        /* A port optimised version is provided, call it only if the TCB being reset
        is being referenced from a ready list.  If it is referenced from a delayed
        or suspended list then it won't be in a ready list. */
        #define taskRESET_READY_PRIORITY( uxPriority )                                                                                                  \
        {                                                                                                                                                                                               \
                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 )                          \
                {                                                                                                                                                                                       \
                        portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );                                             \
                }                                                                                                                                                                                       \
        }

#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

/*-----------------------------------------------------------*/

/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
count overflows. */
#define taskSWITCH_DELAYED_LISTS()                                                                                                                                      \
{                                                                                                                                                                                                       \
        xList *pxTemp;                                                                                                                                                                  \
                                                                                                                                                                                                        \
        /* The delayed tasks list should be empty when the lists are switched. */                                               \
        configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );                                                                             \
                                                                                                                                                                                                        \
        pxTemp = pxDelayedTaskList;                                                                                                                                             \
        pxDelayedTaskList = pxOverflowDelayedTaskList;                                                                                                  \
        pxOverflowDelayedTaskList = pxTemp;                                                                                                                             \
        xNumOfOverflows++;                                                                                                                                                              \
                                                                                                                                                                                                        \
        if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )                                                                                 \
        {                                                                                                                                                                                               \
                /* The new current delayed list is empty.  Set                                                                                          \
                xNextTaskUnblockTime to the maximum possible value so it is                                                                     \
                extremely unlikely that the                                                                                                                                     \
                if( xTickCount >= xNextTaskUnblockTime ) test will pass until                                                           \
                there is an item in the delayed list. */                                                                                                        \
                xNextTaskUnblockTime = portMAX_DELAY;                                                                                                           \
        }                                                                                                                                                                                               \
        else                                                                                                                                                                                    \
        {                                                                                                                                                                                               \
                /* The new current delayed list is not empty, get the value of                                                          \
                the item at the head of the delayed list.  This is the time at                                                          \
                which the task at the head of the delayed list should be removed                                                        \
                from the Blocked state. */                                                                                                                                      \
                pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );                                          \
                xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );                         \
        }                                                                                                                                                                                               \
}

/*-----------------------------------------------------------*/

/*
 * Place the task represented by pxTCB into the appropriate ready list for
 * the task.  It is inserted at the end of the list.
 */
#define prvAddTaskToReadyList( pxTCB )                                                                                                                                                          \
        traceMOVED_TASK_TO_READY_STATE( pxTCB )                                                                                                                                                 \
        taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );                                                                                                                             \
        vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
/*-----------------------------------------------------------*/

/*
 * Several functions take an xTaskHandle parameter that can optionally be NULL,
 * where NULL is used to indicate that the handle of the currently executing
 * task should be used in place of the parameter.  This macro simply checks to
 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
 */
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )

/* Callback function prototypes. --------------------------*/
#if 0 /* << EST not used in this file */
extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
extern void vApplicationTickHook( void );
#endif

/* File private functions. --------------------------------*/

/*
 * Utility to ready a TCB for a given task.  Mainly just copies the parameters
 * into the TCB structure.
 */
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;

/*
 * Utility to ready all the lists used by the scheduler.  This is called
 * automatically upon the creation of the first task.
 */
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;

/*
 * The idle task, which as all tasks is implemented as a never ending loop.
 * The idle task is automatically created and added to the ready lists upon
 * creation of the first user task.
 *
 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
 * language extensions.  The equivalent prototype for this function is:
 *
 * void prvIdleTask( void *pvParameters );
 *
 */
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );

/*
 * Utility to free all memory allocated by the scheduler to hold a TCB,
 * including the stack pointed to by the TCB.
 *
 * This does not free memory allocated by the task itself (i.e. memory
 * allocated by calls to pvPortMalloc from within the tasks application code).
 */
#if ( INCLUDE_vTaskDelete == 1 )

        static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;

#endif

/*
 * Used only by the idle task.  This checks to see if anything has been placed
 * in the list of tasks waiting to be deleted.  If so the task is cleaned up
 * and its TCB deleted.
 */
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;

/*
 * The currently executing task is entering the Blocked state.  Add the task to
 * either the current or the overflow delayed task list.
 */
static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;

/*
 * Allocates memory from the heap for a TCB and associated stack.  Checks the
 * allocation was successful.
 */
static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;

/*
 * Fills an xTaskStatusType structure with information on each task that is
 * referenced from the pxList list (which may be a ready list, a delayed list,
 * a suspended list, etc.).
 *
 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
 * NORMAL APPLICATION CODE.
 */
#if ( configUSE_TRACE_FACILITY == 1 )

        static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;

#endif

/*
 * When a task is created, the stack of the task is filled with a known value.
 * This function determines the 'high water mark' of the task stack by
 * determining how much of the stack remains at the original preset value.
 */
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )

        static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;

#endif

/*
 * Return the amount of time, in ticks, that will pass before the kernel will
 * next move a task from the Blocked state to the Running state.
 *
 * This conditional compilation should use inequality to 0, not equality to 1.
 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
 * set to a value other than 1.
 */
#if ( configUSE_TICKLESS_IDLE != 0 )

        static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;

#endif

signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
{
signed portBASE_TYPE xReturn;
tskTCB * pxNewTCB;

        configASSERT( pxTaskCode );
        configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );

        /* Allocate the memory required by the TCB and stack for the new task,
        checking that the allocation was successful. */
        pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );

        if( pxNewTCB != NULL )
        {
                portSTACK_TYPE *pxTopOfStack;

                #if( portUSING_MPU_WRAPPERS == 1 )
                        /* Should the task be created in privileged mode? */
                        portBASE_TYPE xRunPrivileged;
                        if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
                        {
                                xRunPrivileged = pdTRUE;
                        }
                        else
                        {
                                xRunPrivileged = pdFALSE;
                        }
                        uxPriority &= ~portPRIVILEGE_BIT;
                #endif /* portUSING_MPU_WRAPPERS == 1 */

                /* Calculate the top of stack address.  This depends on whether the
                stack grows from high memory to low (as per the 80x86) or visa versa.
                portSTACK_GROWTH is used to make the result positive or negative as
                required by the port. */
                #if( portSTACK_GROWTH < 0 )
                {
                        pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
                        pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK  ) ); /*lint !e923 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type. */

                        /* Check the alignment of the calculated top of stack is correct. */
                        configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
                }
                #else /* portSTACK_GROWTH */
                {
                        pxTopOfStack = pxNewTCB->pxStack;

                        /* Check the alignment of the stack buffer is correct. */
                        configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

                        /* If we want to use stack checking on architectures that use
                        a positive stack growth direction then we also need to store the
                        other extreme of the stack space. */
                        pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
                }
                #endif /* portSTACK_GROWTH */

                /* Setup the newly allocated TCB with the initial state of the task. */
                prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );

                /* Initialize the TCB stack to look as if the task was already running,
                but had been interrupted by the scheduler.  The return address is set
                to the start of the task function. Once the stack has been initialised
                the     top of stack variable is updated. */
                #if( portUSING_MPU_WRAPPERS == 1 )
                {
                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                }
                #else /* portUSING_MPU_WRAPPERS */
                {
                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
                }
                #endif /* portUSING_MPU_WRAPPERS */

                if( ( void * ) pxCreatedTask != NULL )
                {
                        /* Pass the TCB out - in an anonymous way.  The calling function/
                        task can use this as a handle to delete the task later if
                        required.*/
                        *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
                }

                /* Ensure interrupts don't access the task lists while they are being
                updated. */
                taskENTER_CRITICAL();
                {
                        uxCurrentNumberOfTasks++;
                        if( pxCurrentTCB == NULL )
                        {
                                /* There are no other tasks, or all the other tasks are in
                                the suspended state - make this the current task. */
                                pxCurrentTCB =  pxNewTCB;

                                if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
                                {
                                        /* This is the first task to be created so do the preliminary
                                        initialisation required.  We will not recover if this call
                                        fails, but we will report the failure. */
                                        prvInitialiseTaskLists();
                                }
                        }
                        else
                        {
                                /* If the scheduler is not already running, make this task the
                                current task if it is the highest priority task to be created
                                so far. */
                                if( xSchedulerRunning == pdFALSE )
                                {
                                        if( pxCurrentTCB->uxPriority <= uxPriority )
                                        {
                                                pxCurrentTCB = pxNewTCB;
                                        }
                                }
                        }

                        uxTaskNumber++;

                        #if ( configUSE_TRACE_FACILITY == 1 )
                        {
                                /* Add a counter into the TCB for tracing only. */
                                pxNewTCB->uxTCBNumber = uxTaskNumber;
                        }
                        #endif /* configUSE_TRACE_FACILITY */
                        traceTASK_CREATE( pxNewTCB );

                        prvAddTaskToReadyList( pxNewTCB );

                        xReturn = pdPASS;
                        portSETUP_TCB( pxNewTCB );
                }
                taskEXIT_CRITICAL();
        }
        else
        {
                xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
                traceTASK_CREATE_FAILED();
        }

        if( xReturn == pdPASS )
        {
                if( xSchedulerRunning != pdFALSE )
                {
                        /* If the created task is of a higher priority than the current task
                        then it should run now. */
                        if( pxCurrentTCB->uxPriority < uxPriority )
                        {
                                portYIELD_WITHIN_API();
                        }
                }
        }

        return xReturn;
}
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelete == 1 )

        void vTaskDelete( xTaskHandle xTaskToDelete )
        {
        tskTCB *pxTCB;

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then we are deleting ourselves. */
                        pxTCB = prvGetTCBFromHandle( xTaskToDelete );

                        /* Remove task from the ready list and place in the     termination list.
                        This will stop the task from be scheduled.  The idle task will check
                        the termination list and free up any memory allocated by the
                        scheduler for the TCB and stack. */
                        if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                        {
                                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                        }

                        /* Is the task waiting on an event also? */
                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                        {
                                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                        }

                        vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );

                        /* Increment the ucTasksDeleted variable so the idle task knows
                        there is a task that has been deleted and that it should therefore
                        check the xTasksWaitingTermination list. */
                        ++uxTasksDeleted;

                        /* Increment the uxTaskNumberVariable also so kernel aware debuggers
                        can detect that the task lists need re-generating. */
                        uxTaskNumber++;

                        traceTASK_DELETE( pxTCB );
                }
                taskEXIT_CRITICAL();

                /* Force a reschedule if we have just deleted the current task. */
                if( xSchedulerRunning != pdFALSE )
                {
                        if( pxTCB == pxCurrentTCB )
                        {
                                portYIELD_WITHIN_API();
                        }
                }
        }

#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelayUntil == 1 )

        void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
        {
        portTickType xTimeToWake;
        portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;

                configASSERT( pxPreviousWakeTime );
                configASSERT( ( xTimeIncrement > 0U ) );

                vTaskSuspendAll();
                {
                        /* Minor optimisation.  The tick count cannot change in this
                        block. */
                        const portTickType xConstTickCount = xTickCount;

                        /* Generate the tick time at which the task wants to wake. */
                        xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;

                        if( xConstTickCount < *pxPreviousWakeTime )
                        {
                                /* The tick count has overflowed since this function was
                                lasted called.  In this case the only time we should ever
                                actually delay is if the wake time has also     overflowed,
                                and the wake time is greater than the tick time.  When this
                                is the case it is as if neither time had overflowed. */
                                if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
                                {
                                        xShouldDelay = pdTRUE;
                                }
                        }
                        else
                        {
                                /* The tick time has not overflowed.  In this case we will
                                delay if either the wake time has overflowed, and/or the
                                tick time is less than the wake time. */
                                if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
                                {
                                        xShouldDelay = pdTRUE;
                                }
                        }

                        /* Update the wake time ready for the next call. */
                        *pxPreviousWakeTime = xTimeToWake;

                        if( xShouldDelay != pdFALSE )
                        {
                                traceTASK_DELAY_UNTIL();

                                /* We must remove ourselves from the ready list before adding
                                ourselves to the blocked list as the same list item is used for
                                both lists. */
                                if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                                {
                                        /* The current task must be in a ready list, so there is
                                        no need to check, and the port reset macro can be called
                                        directly. */
                                        portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
                                }

                                prvAddCurrentTaskToDelayedList( xTimeToWake );
                        }
                }
                xAlreadyYielded = xTaskResumeAll();

                /* Force a reschedule if xTaskResumeAll has not already done so, we may
                have put ourselves to sleep. */
                if( xAlreadyYielded == pdFALSE )
                {
                        portYIELD_WITHIN_API();
                }
        }

#endif /* INCLUDE_vTaskDelayUntil */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelay == 1 )

        void vTaskDelay( portTickType xTicksToDelay )
        {
        portTickType xTimeToWake;
        signed portBASE_TYPE xAlreadyYielded = pdFALSE;

                /* A delay time of zero just forces a reschedule. */
                if( xTicksToDelay > ( portTickType ) 0U )
                {
                        vTaskSuspendAll();
                        {
                                traceTASK_DELAY();

                                /* A task that is removed from the event list while the
                                scheduler is suspended will not get placed in the ready
                                list or removed from the blocked list until the scheduler
                                is resumed.

                                This task cannot be in an event list as it is the currently
                                executing task. */

                                /* Calculate the time to wake - this may overflow but this is
                                not a problem. */
                                xTimeToWake = xTickCount + xTicksToDelay;

                                /* We must remove ourselves from the ready list before adding
                                ourselves to the blocked list as the same list item is used for
                                both lists. */
                                if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                                {
                                        /* The current task must be in a ready list, so there is
                                        no need to check, and the port reset macro can be called
                                        directly. */
                                        portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
                                }
                                prvAddCurrentTaskToDelayedList( xTimeToWake );
                        }
                        xAlreadyYielded = xTaskResumeAll();
                }

                /* Force a reschedule if xTaskResumeAll has not already done so, we may
                have put ourselves to sleep. */
                if( xAlreadyYielded == pdFALSE )
                {
                        portYIELD_WITHIN_API();
                }
        }

#endif /* INCLUDE_vTaskDelay */
/*-----------------------------------------------------------*/

#if ( INCLUDE_eTaskGetState == 1 )

        eTaskState eTaskGetState( xTaskHandle xTask )
        {
        eTaskState eReturn;
        xList *pxStateList;
        const tskTCB * const pxTCB = ( tskTCB * ) xTask;

                if( pxTCB == pxCurrentTCB )
                {
                        /* The task calling this function is querying its own state. */
                        eReturn = eRunning;
                }
                else
                {
                        taskENTER_CRITICAL();
                        {
                                pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
                        }
                        taskEXIT_CRITICAL();

                        if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
                        {
                                /* The task being queried is referenced from one of the Blocked
                                lists. */
                                eReturn = eBlocked;
                        }

                        #if ( INCLUDE_vTaskSuspend == 1 )
                                else if( pxStateList == &xSuspendedTaskList )
                                {
                                        /* The task being queried is referenced from the suspended
                                        list. */
                                        eReturn = eSuspended;
                                }
                        #endif

                        #if ( INCLUDE_vTaskDelete == 1 )
                                else if( pxStateList == &xTasksWaitingTermination )
                                {
                                        /* The task being queried is referenced from the deleted
                                        tasks list. */
                                        eReturn = eDeleted;
                                }
                        #endif

                        else
                        {
                                /* If the task is not in any other state, it must be in the
                                Ready (including pending ready) state. */
                                eReturn = eReady;
                        }
                }

                return eReturn;
        }

#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskPriorityGet == 1 )

        unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
        {
        tskTCB *pxTCB;
        unsigned portBASE_TYPE uxReturn;

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then we are changing the
                        priority of the calling function. */
                        pxTCB = prvGetTCBFromHandle( xTask );
                        uxReturn = pxTCB->uxPriority;
                }
                taskEXIT_CRITICAL();

                return uxReturn;
        }

#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskPrioritySet == 1 )

        void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
        {
        tskTCB *pxTCB;
        unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
        portBASE_TYPE xYieldRequired = pdFALSE;

                configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );

                /* Ensure the new priority is valid. */
                if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
                {
                        uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
                }

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then it is the priority of the calling
                        task that is being changed. */
                        pxTCB = prvGetTCBFromHandle( xTask );

                        traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );

                        #if ( configUSE_MUTEXES == 1 )
                        {
                                uxCurrentBasePriority = pxTCB->uxBasePriority;
                        }
                        #else
                        {
                                uxCurrentBasePriority = pxTCB->uxPriority;
                        }
                        #endif

                        if( uxCurrentBasePriority != uxNewPriority )
                        {
                                /* The priority change may have readied a task of higher
                                priority than the calling task. */
                                if( uxNewPriority > uxCurrentBasePriority )
                                {
                                        if( pxTCB != pxCurrentTCB )
                                        {
                                                /* The priority of a task other than the currently
                                                running task is being raised.  Is the priority being
                                                raised above that of the running task? */
                                                if( uxNewPriority >= pxCurrentTCB->uxPriority )
                                                {                                               	
                                                        xYieldRequired = pdTRUE;
                                                }
                                        }
                                        else
                                        {
                                                /* The priority of the running task is being raised,
                                                but the running task must already be the highest
                                                priority task able to run so no yield is required. */
                                        }
                                }
                                else if( pxTCB == pxCurrentTCB )
                                {
                                        /* Setting the priority of the running task down means 
                                        there may now be another task of higher priority that 
                                        is ready to execute. */
                                        xYieldRequired = pdTRUE;
                                }
                                else
                                {
                                        /* Setting the priority of any other task down does not
                                        require a yield as the running task must be above the
                                        new priority of the task being modified. */
                                }

                                /* Remember the ready list the task might be referenced from
                                before its uxPriority member is changed so the
                                taskRESET_READY_PRIORITY() macro can function correctly. */
                                uxPriorityUsedOnEntry = pxTCB->uxPriority;

                                #if ( configUSE_MUTEXES == 1 )
                                {
                                        /* Only change the priority being used if the task is not
                                        currently using an inherited priority. */
                                        if( pxTCB->uxBasePriority == pxTCB->uxPriority )
                                        {
                                                pxTCB->uxPriority = uxNewPriority;
                                        }

                                        /* The base priority gets set whatever. */
                                        pxTCB->uxBasePriority = uxNewPriority;
                                }
                                #else
                                {
                                        pxTCB->uxPriority = uxNewPriority;
                                }
                                #endif

                                listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                                /* If the task is in the blocked or suspended list we need do
                                nothing more than change it's priority variable. However, if
                                the task is in a ready list it needs to be removed and placed
                                in the list appropriate to its new priority. */
                                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
                                {
                                        /* The task is currently in its ready list - remove before adding
                                        it to it's new ready list.  As we are in a critical section we
                                        can do this even if the scheduler is suspended. */
                                        if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                                        {
                                                /* It is known that the task is in its ready list so
                                                there is no need to check again and the port level
                                                reset macro can be called directly. */
                                                portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
                                        }
                                        prvAddTaskToReadyList( pxTCB );
                                }

                                if( xYieldRequired == pdTRUE )
                                {
                                        portYIELD_WITHIN_API();
                                }

                                /* Remove compiler warning about unused variables when the port
                                optimised task selection is not being used. */
                                ( void ) uxPriorityUsedOnEntry;
                        }
                }
                taskEXIT_CRITICAL();
        }

#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskSuspend == 1 )

        void vTaskSuspend( xTaskHandle xTaskToSuspend )
        {
        tskTCB *pxTCB;

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then it is the running task that is
                        being suspended. */
                        pxTCB = prvGetTCBFromHandle( xTaskToSuspend );

                        traceTASK_SUSPEND( pxTCB );

                        /* Remove task from the ready/delayed list and place in the     suspended list. */
                        if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                        {
                                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                        }

                        /* Is the task waiting on an event also? */
                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                        {
                                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                        }

                        vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
                }
                taskEXIT_CRITICAL();

                if( pxTCB == pxCurrentTCB )
                {
                        if( xSchedulerRunning != pdFALSE )
                        {
                                /* The current task has just been suspended. */
                                portYIELD_WITHIN_API();
                        }
                        else
                        {
                                /* The scheduler is not running, but the task that was pointed
                                to by pxCurrentTCB has just been suspended and pxCurrentTCB
                                must be adjusted to point to a different task. */
                                if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
                                {
                                        /* No other tasks are ready, so set pxCurrentTCB back to
                                        NULL so when the next task is created pxCurrentTCB will
                                        be set to point to it no matter what its relative priority
                                        is. */
                                        pxCurrentTCB = NULL;
                                }
                                else
                                {
                                        vTaskSwitchContext();
                                }
                        }
                }
        }

#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskSuspend == 1 )

        signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
        {
        portBASE_TYPE xReturn = pdFALSE;
        const tskTCB * const pxTCB = ( tskTCB * ) xTask;

                /* It does not make sense to check if the calling task is suspended. */
                configASSERT( xTask );

                /* Is the task we are attempting to resume actually in the
                suspended list? */
                if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
                {
                        /* Has the task already been resumed from within an ISR? */
                        if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
                        {
                                /* Is it in the suspended list because it is in the
                                Suspended state?  It is possible to be in the suspended
                                list because it is blocked on a task with no timeout
                                specified. */
                                if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
                                {
                                        xReturn = pdTRUE;
                                }
                        }
                }

                return xReturn;
        } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskSuspend == 1 )

        void vTaskResume( xTaskHandle xTaskToResume )
        {
        tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;

                /* It does not make sense to resume the calling task. */
                configASSERT( xTaskToResume );

                /* The parameter cannot be NULL as it is impossible to resume the
                currently executing task. */
                if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
                {
                        taskENTER_CRITICAL();
                        {
                                if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
                                {
                                        traceTASK_RESUME( pxTCB );

                                        /* As we are in a critical section we can access the ready
                                        lists even if the scheduler is suspended. */
                                        ( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
                                        prvAddTaskToReadyList( pxTCB );

                                        /* We may have just resumed a higher priority task. */
                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                        {
                                                /* This yield may not cause the task just resumed to run, but
                                                will leave the lists in the correct state for the next yield. */
                                                portYIELD_WITHIN_API();
                                        }
                                }
                        }
                        taskEXIT_CRITICAL();
                }
        }

#endif /* INCLUDE_vTaskSuspend */

/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )

        portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
        {
        portBASE_TYPE xYieldRequired = pdFALSE;
        tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
        unsigned portBASE_TYPE uxSavedInterruptStatus;

                configASSERT( xTaskToResume );

                /* RTOS ports that support interrupt nesting have the concept of a
                maximum system call (or maximum API call) interrupt priority.
                Interrupts that are     above the maximum system call priority are keep
                permanently enabled, even when the RTOS kernel is in a critical section,
                but cannot make any calls to FreeRTOS API functions.  If configASSERT()
                is defined in FreeRTOSConfig.h then
                portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
                failure if a FreeRTOS API function is called from an interrupt that has
                been assigned a priority above the configured maximum system call
                priority.  Only FreeRTOS functions that end in FromISR can be called
                from interrupts that have been assigned a priority at or (logically)
                below the maximum system call interrupt priority.  FreeRTOS maintains a
                separate interrupt safe API to ensure interrupt entry is as fast and as
                simple as possible.  More information (albeit Cortex-M specific) is
                provided on the following link:
                http://www.freertos.org/RTOS-Cortex-M3-M4.html */
                portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

                uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
                {
                        if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
                        {
                                traceTASK_RESUME_FROM_ISR( pxTCB );

                                if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
                                {
                                        xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
                                        ( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
                                        prvAddTaskToReadyList( pxTCB );
                                }
                                else
                                {
                                        /* We cannot access the delayed or ready lists, so will hold this
                                        task pending until the scheduler is resumed, at which point a
                                        yield will be performed if necessary. */
                                        vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                                }
                        }
                }
                portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

                return xYieldRequired;
        }

#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/

void vTaskStartScheduler( void )
{
portBASE_TYPE xReturn;

        /* Add the idle task at the lowest priority. */
        #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
        {
                /* Create the idle task, storing its handle in xIdleTaskHandle so it can
                be returned by the xTaskGetIdleTaskHandle() function. */
                xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
        }
        #else
        {
                /* Create the idle task without storing its handle. */
                xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );  /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
        }
        #endif /* INCLUDE_xTaskGetIdleTaskHandle */

        #if ( configUSE_TIMERS == 1 )
        {
                if( xReturn == pdPASS )
                {
                        xReturn = xTimerCreateTimerTask();
                }
        }
        #endif /* configUSE_TIMERS */

        if( xReturn == pdPASS )
        {
                /* Interrupts are turned off here, to ensure a tick does not occur
                before or during the call to xPortStartScheduler().  The stacks of
                the created tasks contain a status word with interrupts switched on
                so interrupts will automatically get re-enabled when the first task
                starts to run.

                STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
                DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
                portDISABLE_INTERRUPTS();

                xSchedulerRunning = pdTRUE;
                xTickCount = ( portTickType ) 0U;

                /* If configGENERATE_RUN_TIME_STATS is defined then the following
                macro must be defined to configure the timer/counter used to generate
                the run time counter time base. */
                portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

                /* Setting up the timer tick is hardware specific and thus in the
                portable interface. */
                if( xPortStartScheduler() != pdFALSE )
                {
                        /* Should not reach here as if the scheduler is running the
                        function will not return. */
                }
                else
                {
                        /* Should only reach here if a task calls xTaskEndScheduler(). */
                }
        }
        else
        {
                /* This line will only be reached if the kernel could not be started,
                because there was not enough FreeRTOS heap to create the idle task
                or the timer task. */
                configASSERT( xReturn );
        }
}
/*-----------------------------------------------------------*/

void vTaskSuspendAll( void )
{
        /* A critical section is not required as the variable is of type
        portBASE_TYPE. */
        ++uxSchedulerSuspended;
}
/*----------------------------------------------------------*/

#if ( configUSE_TICKLESS_IDLE != 0 )

        static portTickType prvGetExpectedIdleTime( void )
        {
        portTickType xReturn;

                if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
                {
                        xReturn = 0;
                }
                else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
                {
                        /* There are other idle priority tasks in the ready state.  If
                        time slicing is used then the very next tick interrupt must be
                        processed. */
                        xReturn = 0;
                }
                else
                {
                        xReturn = xNextTaskUnblockTime - xTickCount;
                }

                return xReturn;
        }

#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/

signed portBASE_TYPE xTaskResumeAll( void )
{
tskTCB *pxTCB;
portBASE_TYPE xAlreadyYielded = pdFALSE;
portBASE_TYPE xYieldRequired = pdFALSE;

        /* If uxSchedulerSuspended is zero then this function does not match a
        previous call to vTaskSuspendAll(). */
        configASSERT( uxSchedulerSuspended );

        /* It is possible that an ISR caused a task to be removed from an event
        list while the scheduler was suspended.  If this was the case then the
        removed task will have been added to the xPendingReadyList.  Once the
        scheduler has been resumed it is safe to move all the pending ready
        tasks from this list into their appropriate ready list. */
        taskENTER_CRITICAL();
        {
                --uxSchedulerSuspended;

                if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
                {
                        if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
                        {
                                /* Move any readied tasks from the pending list into the
                                appropriate ready list. */
                                while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
                                {
                                        pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
                                        ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                                        ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
                                        prvAddTaskToReadyList( pxTCB );

                                        /* If we have moved a task that has a priority higher than
                                        the current task then we should yield. */
                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                        {
                                                xYieldRequired = pdTRUE;
                                        }
                                }

                                /* If any ticks occurred while the scheduler was suspended then
                                they should be processed now.  This ensures the tick count does not
                                slip, and that any delayed tasks are resumed at the correct time. */
                                if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
                                {
                                        while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
                                        {
                                                if( xTaskIncrementTick() != pdFALSE )
                                                {
                                                        xYieldRequired = pdTRUE;
                                                }
                                                --uxPendedTicks;
                                        }
                                }

                                if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
                                {
                                        xAlreadyYielded = pdTRUE;
                                        xYieldPending = pdFALSE;
                                        portYIELD_WITHIN_API();
                                }
                        }
                }
        }
        taskEXIT_CRITICAL();

        return xAlreadyYielded;
}
/*-----------------------------------------------------------*/

portTickType xTaskGetTickCount( void )
{
portTickType xTicks;

        /* Critical section required if running on a 16 bit processor. */
        taskENTER_CRITICAL();
        {
                xTicks = xTickCount;
        }
        taskEXIT_CRITICAL();

        return xTicks;
}
/*-----------------------------------------------------------*/

portTickType xTaskGetTickCountFromISR( void )
{
portTickType xReturn;
unsigned portBASE_TYPE uxSavedInterruptStatus;

        /* RTOS ports that support interrupt nesting have the concept of a maximum
        system call (or maximum API call) interrupt priority.  Interrupts that are
        above the maximum system call priority are keep permanently enabled, even
        when the RTOS kernel is in a critical section, but cannot make any calls to
        FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
        then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
        failure if a FreeRTOS API function is called from an interrupt that has been
        assigned a priority above the configured maximum system call priority.
        Only FreeRTOS functions that end in FromISR can be called from interrupts
        that have been assigned a priority at or (logically) below the maximum
        system call     interrupt priority.  FreeRTOS maintains a separate interrupt
        safe API to ensure interrupt entry is as fast and as simple as possible.
        More information (albeit Cortex-M specific) is provided on the following
        link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
        xReturn = xTickCount;
        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

        return xReturn;
}
/*-----------------------------------------------------------*/

unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
{
        /* A critical section is not required because the variables are of type
        portBASE_TYPE. */
        return uxCurrentNumberOfTasks;
}
/*-----------------------------------------------------------*/

#if ( INCLUDE_pcTaskGetTaskName == 1 )

        signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
        {
        tskTCB *pxTCB;

                /* If null is passed in here then the name of the calling task is being queried. */
                pxTCB = prvGetTCBFromHandle( xTaskToQuery );
                configASSERT( pxTCB );
                return &( pxTCB->pcTaskName[ 0 ] );
        }

#endif /* INCLUDE_pcTaskGetTaskName */
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
        {
        unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;

                vTaskSuspendAll();
                {
                        /* Is there a space in the array for each task in the system? */
                        if( uxArraySize >= uxCurrentNumberOfTasks )
                        {
                                /* Fill in an xTaskStatusType structure with information on each
                                task in the Ready state. */
                                do
                                {
                                        uxQueue--;
                                        uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );

                                } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                                /* Fill in an xTaskStatusType structure with information on each
                                task in the Blocked state. */
                                uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
                                uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );

                                #if( INCLUDE_vTaskDelete == 1 )
                                {
                                        /* Fill in an xTaskStatusType structure with information on
                                        each task that has been deleted but not yet cleaned up. */
                                        uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
                                }
                                #endif

                                #if ( INCLUDE_vTaskSuspend == 1 )
                                {
                                        /* Fill in an xTaskStatusType structure with information on
                                        each task in the Suspended state. */
                                        uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
                                }
                                #endif

                                #if ( configGENERATE_RUN_TIME_STATS == 1)
                                {
                                        if( pulTotalRunTime != NULL )
                                        {
                                                *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                                        }
                                }
                                #else
                                {
                                        if( pulTotalRunTime != NULL )
                                        {
                                                *pulTotalRunTime = 0;
                                        }
                                }
                                #endif
                        }
                }
                ( void ) xTaskResumeAll();

                return uxTask;
        }

#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/

#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )

        xTaskHandle xTaskGetIdleTaskHandle( void )
        {
                /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
                started, then xIdleTaskHandle will be NULL. */
                configASSERT( ( xIdleTaskHandle != NULL ) );
                return xIdleTaskHandle;
        }

#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/

/* This conditional compilation should use inequality to 0, not equality to 1.
This is to ensure vTaskStepTick() is available when user defined low power mode
implementations require configUSE_TICKLESS_IDLE to be set to a value other than
1. */
#if ( configUSE_TICKLESS_IDLE != 0 )

        void vTaskStepTick( portTickType xTicksToJump )
        {
                /* Correct the tick count value after a period during which the tick
                was suppressed.  Note this does *not* call the tick hook function for
                each stepped tick. */
                configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
                xTickCount += xTicksToJump;
                traceINCREASE_TICK_COUNT( xTicksToJump );
        }

#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/

portBASE_TYPE xTaskIncrementTick( void )
{
tskTCB * pxTCB;
portTickType xItemValue;
portBASE_TYPE xSwitchRequired = pdFALSE;

        /* Called by the portable layer each time a tick interrupt occurs.
        Increments the tick then checks to see if the new tick value will cause any
        tasks to be unblocked. */
        traceTASK_INCREMENT_TICK( xTickCount );
        if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
        {
                /* Increment the RTOS tick, switching the delayed and overflowed
                delayed lists if it wraps to 0. */
                ++xTickCount;

                {
                        /* Minor optimisation.  The tick count cannot change in this
                        block. */
                        const portTickType xConstTickCount = xTickCount;

                        if( xConstTickCount == ( portTickType ) 0U )
                        {
                                taskSWITCH_DELAYED_LISTS();
                        }

                        /* See if this tick has made a timeout expire.  Tasks are stored in the
                        queue in the order of their wake time - meaning once one tasks has been
                        found whose block time has not expired there is no need not look any
                        further down the list. */
                        if( xConstTickCount >= xNextTaskUnblockTime )
                        {
                                for( ;; )
                                {
                                        if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
                                        {
                                                /* The delayed list is empty.  Set xNextTaskUnblockTime to
                                                the     maximum possible value so it is extremely unlikely that
                                                the if( xTickCount >= xNextTaskUnblockTime ) test will pass
                                                next time through. */
                                                xNextTaskUnblockTime = portMAX_DELAY;
                                                break;
                                        }
                                        else
                                        {
                                                /* The delayed list is not empty, get the value of the item
                                                at the head of the delayed list.  This is the time at which
                                                the task at the head of the delayed list must be removed
                                                from the Blocked state. */
                                                pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
                                                xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );

                                                if( xConstTickCount < xItemValue )
                                                {
                                                        /* It is not time to unblock this item yet, but the item
                                                        value is the time at which the task at the head of the
                                                        blocked list must be removed from the Blocked state -
                                                        so record the item value in xNextTaskUnblockTime. */
                                                        xNextTaskUnblockTime = xItemValue;
                                                        break;
                                                }

                                                /* It is time to remove the item from the Blocked state. */
                                                ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );

                                                /* Is the task waiting on an event also?  If so remove it
                                                from the event list. */
                                                if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                                                {
                                                        ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                                                }

                                                /* Place the unblocked task into the appropriate ready
                                                list. */
                                                prvAddTaskToReadyList( pxTCB );

                                                /* A task being unblocked cannot cause an immediate context
                                                switch if preemption is turned off. */
                                                #if (  configUSE_PREEMPTION == 1 )
                                                {
                                                        /* Preemption is on, but a context switch should only
                                                        be performed if the unblocked task has a priority that
                                                        is equal to or higher than the currently executing
                                                        task. */
                                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                                        {
                                                                xSwitchRequired = pdTRUE;
                                                        }
                                                }
                                                #endif /* configUSE_PREEMPTION */
                                        }
                                }
                        }
                }

                /* Tasks of equal priority to the currently running task will share
                processing time (time slice) if preemption is on, and the application
                writer has not explicitly turned time slicing off. */
                #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
                {
                        if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
                        {
                                xSwitchRequired = pdTRUE;
                        }
                }
                #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
        }
        else
        {
                ++uxPendedTicks;

                /* The tick hook gets called at regular intervals, even if the
                scheduler is locked. */
                #if ( configUSE_TICK_HOOK == 1 )
                {
      FRTOS1_vApplicationTickHook();
                }
                #endif
        }

        #if ( configUSE_TICK_HOOK == 1 )
        {
                /* Guard against the tick hook being called when the missed tick
                count is being unwound (when the scheduler is being unlocked). */
                if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
                {
      extern void vApplicationTickHook( void );
      FRTOS1_vApplicationTickHook();
                }
        }
        #endif /* configUSE_TICK_HOOK */

        return xSwitchRequired;
}
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
        {
        tskTCB *xTCB;

                /* If xTask is NULL then we are setting our own task hook. */
                if( xTask == NULL )
                {
                        xTCB = ( tskTCB * ) pxCurrentTCB;
                }
                else
                {
                        xTCB = ( tskTCB * ) xTask;
                }

                /* Save the hook function in the TCB.  A critical section is required as
                the value can be accessed from an interrupt. */
                taskENTER_CRITICAL();
                        xTCB->pxTaskTag = pxHookFunction;
                taskEXIT_CRITICAL();
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
        {
        tskTCB *xTCB;
        pdTASK_HOOK_CODE xReturn;

                /* If xTask is NULL then we are setting our own task hook. */
                if( xTask == NULL )
                {
                        xTCB = ( tskTCB * ) pxCurrentTCB;
                }
                else
                {
                        xTCB = ( tskTCB * ) xTask;
                }

                /* Save the hook function in the TCB.  A critical section is required as
                the value can be accessed from an interrupt. */
                taskENTER_CRITICAL();
                        xReturn = xTCB->pxTaskTag;
                taskEXIT_CRITICAL();

                return xReturn;
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
        {
        tskTCB *xTCB;
        portBASE_TYPE xReturn;

                /* If xTask is NULL then we are calling our own task hook. */
                if( xTask == NULL )
                {
                        xTCB = ( tskTCB * ) pxCurrentTCB;
                }
                else
                {
                        xTCB = ( tskTCB * ) xTask;
                }

                if( xTCB->pxTaskTag != NULL )
                {
                        xReturn = xTCB->pxTaskTag( pvParameter );
                }
                else
                {
                        xReturn = pdFAIL;
                }

                return xReturn;
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

void vTaskSwitchContext( void )
{
        if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
        {
                /* The scheduler is currently suspended - do not allow a context
                switch. */
                xYieldPending = pdTRUE;
        }
        else
        {
                traceTASK_SWITCHED_OUT();

                #if ( configGENERATE_RUN_TIME_STATS == 1 )
                {
                                #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                                        portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
                                #else
                                        ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                                #endif

                                /* Add the amount of time the task has been running to the
                                accumulated     time so far.  The time the task started running was
                                stored in ulTaskSwitchedInTime.  Note that there is no overflow
                                protection here so count values are only valid until the timer
                                overflows.  The guard against negative values is to protect
                                against suspect run time stat counter implementations - which
                                are provided by the application, not the kernel. */
                                if( ulTotalRunTime > ulTaskSwitchedInTime )
                                {
                                        pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
                                }
                                ulTaskSwitchedInTime = ulTotalRunTime;
                }
                #endif /* configGENERATE_RUN_TIME_STATS */

                taskFIRST_CHECK_FOR_STACK_OVERFLOW();
                taskSECOND_CHECK_FOR_STACK_OVERFLOW();

                taskSELECT_HIGHEST_PRIORITY_TASK();

                traceTASK_SWITCHED_IN();

                #if ( configUSE_NEWLIB_REENTRANT == 1 )
                {
                        /* Switch Newlib's _impure_ptr variable to point to the _reent
                        structure specific to this task. */
                        _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
                }
                #endif /* configUSE_NEWLIB_REENTRANT */
        }
}
/*-----------------------------------------------------------*/

void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
{
portTickType xTimeToWake;

        configASSERT( pxEventList );

        /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
        SCHEDULER SUSPENDED. */

        /* Place the event list item of the TCB in the appropriate event list.
        This is placed in the list in priority order so the highest priority task
        is the first to be woken by the event. */
        vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );

        /* We must remove ourselves from the ready list before adding ourselves
        to the blocked list as the same list item is used for both lists.  We have
        exclusive access to the ready lists as the scheduler is locked. */
        if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
        {
                /* The current task must be in a ready list, so there is no need to
                check, and the port reset macro can be called directly. */
                portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
        }

        #if ( INCLUDE_vTaskSuspend == 1 )
        {
                if( xTicksToWait == portMAX_DELAY )
                {
                        /* Add ourselves to the suspended task list instead of a delayed task
                        list to ensure we are not woken by a timing event.  We will block
                        indefinitely. */
                        vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
                }
                else
                {
                        /* Calculate the time at which the task should be woken if the event does
                        not occur.  This may overflow but this doesn't matter. */
                        xTimeToWake = xTickCount + xTicksToWait;
                        prvAddCurrentTaskToDelayedList( xTimeToWake );
                }
        }
        #else /* INCLUDE_vTaskSuspend */
        {
                        /* Calculate the time at which the task should be woken if the event does
                        not occur.  This may overflow but this doesn't matter. */
                        xTimeToWake = xTickCount + xTicksToWait;
                        prvAddCurrentTaskToDelayedList( xTimeToWake );
        }
        #endif /* INCLUDE_vTaskSuspend */
}
/*-----------------------------------------------------------*/

#if configUSE_TIMERS == 1

        void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
        {
        portTickType xTimeToWake;

                configASSERT( pxEventList );

                /* This function should not be called by application code hence the
                'Restricted' in its name.  It is not part of the public API.  It is
                designed for use by kernel code, and has special calling requirements -
                it should be called from a critical section. */


                /* Place the event list item of the TCB in the appropriate event list.
                In this case it is assume that this is the only task that is going to
                be waiting on this event list, so the faster vListInsertEnd() function
                can be used in place of vListInsert. */
                vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );

                /* We must remove this task from the ready list before adding it to the
                blocked list as the same list item is used for both lists.  This
                function is called form a critical section. */
                if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                {
                        /* The current task must be in a ready list, so there is no need to
                        check, and the port reset macro can be called directly. */
                        portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
                }

                /* Calculate the time at which the task should be woken if the event does
                not occur.  This may overflow but this doesn't matter. */
                xTimeToWake = xTickCount + xTicksToWait;

                traceTASK_DELAY_UNTIL();
                prvAddCurrentTaskToDelayedList( xTimeToWake );
        }

#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/

signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
{
tskTCB *pxUnblockedTCB;
portBASE_TYPE xReturn;

        /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
        SCHEDULER SUSPENDED.  It can also be called from within an ISR. */

        /* The event list is sorted in priority order, so we can remove the
        first in the list, remove the TCB from the delayed list, and add
        it to the ready list.

        If an event is for a queue that is locked then this function will never
        get called - the lock count on the queue will get modified instead.  This
        means we can always expect exclusive access to the event list here.

        This function assumes that a check has already been made to ensure that
        pxEventList is not empty. */
        pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
        configASSERT( pxUnblockedTCB );
        ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );

        if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
        {
                ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
                prvAddTaskToReadyList( pxUnblockedTCB );
        }
        else
        {
                /* We cannot access the delayed or ready lists, so will hold this
                task pending until the scheduler is resumed. */
                vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
        }

        if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
        {
                /* Return true if the task removed from the event list has
                a higher priority than the calling task.  This allows
                the calling task to know if it should force a context
                switch now. */
                xReturn = pdTRUE;
        }
        else
        {
                xReturn = pdFALSE;
        }

        return xReturn;
}
/*-----------------------------------------------------------*/

void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
{
        configASSERT( pxTimeOut );
        pxTimeOut->xOverflowCount = xNumOfOverflows;
        pxTimeOut->xTimeOnEntering = xTickCount;
}
/*-----------------------------------------------------------*/

portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
{
portBASE_TYPE xReturn;

        configASSERT( pxTimeOut );
        configASSERT( pxTicksToWait );

        taskENTER_CRITICAL();
        {
                /* Minor optimisation.  The tick count cannot change in this block. */
                const portTickType xConstTickCount = xTickCount;

                #if ( INCLUDE_vTaskSuspend == 1 )
                        /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
                        the maximum block time then the task should block indefinitely, and
                        therefore never time out. */
                        if( *pxTicksToWait == portMAX_DELAY )
                        {
                                xReturn = pdFALSE;
                        }
                        else /* We are not blocking indefinitely, perform the checks below. */
                #endif

                if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
                {
                        /* The tick count is greater than the time at which vTaskSetTimeout()
                        was called, but has also overflowed since vTaskSetTimeOut() was called.
                        It must have wrapped all the way around and gone past us again. This
                        passed since vTaskSetTimeout() was called. */
                        xReturn = pdTRUE;
                }
                else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
                {
                        /* Not a genuine timeout. Adjust parameters for time remaining. */
                        *pxTicksToWait -= ( xConstTickCount -  pxTimeOut->xTimeOnEntering );
                        vTaskSetTimeOutState( pxTimeOut );
                        xReturn = pdFALSE;
                }
                else
                {
                        xReturn = pdTRUE;
                }
        }
        taskEXIT_CRITICAL();

        return xReturn;
}
/*-----------------------------------------------------------*/

void vTaskMissedYield( void )
{
        xYieldPending = pdTRUE;
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
        {
        unsigned portBASE_TYPE uxReturn;
        tskTCB *pxTCB;

                if( xTask != NULL )
                {
                        pxTCB = ( tskTCB * ) xTask;
                        uxReturn = pxTCB->uxTaskNumber;
                }
                else
                {
                        uxReturn = 0U;
                }

                return uxReturn;
        }

#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
        {
        tskTCB *pxTCB;

                if( xTask != NULL )
                {
                        pxTCB = ( tskTCB * ) xTask;
                        pxTCB->uxTaskNumber = uxHandle;
                }
        }

#endif /* configUSE_TRACE_FACILITY */

/*
 * -----------------------------------------------------------
 * The Idle task.
 * ----------------------------------------------------------
 *
 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
 * language extensions.  The equivalent prototype for this function is:
 *
 * void prvIdleTask( void *pvParameters );
 *
 */
static portTASK_FUNCTION( prvIdleTask, pvParameters )
{
        /* Stop warnings. */
        ( void ) pvParameters;

        for( ;; )
        {
                /* See if any tasks have been deleted. */
                prvCheckTasksWaitingTermination();

                #if ( configUSE_PREEMPTION == 0 )
                {
                        /* If we are not using preemption we keep forcing a task switch to
                        see if any other task has become available.  If we are using
                        preemption we don't need to do this as any task becoming available
                        will automatically get the processor anyway. */
                        taskYIELD();
                }
                #endif /* configUSE_PREEMPTION */

                #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
                {
                        /* When using preemption tasks of equal priority will be
                        timesliced.  If a task that is sharing the idle priority is ready
                        to run then the idle task should yield before the end of the
                        timeslice.

                        A critical region is not required here as we are just reading from
                        the list, and an occasional incorrect value will not matter.  If
                        the ready list at the idle priority contains more than one task
                        then a task other than the idle task is ready to execute. */
                        if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
                        {
                                taskYIELD();
                        }
                }
                #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */

                #if ( configUSE_IDLE_HOOK == 1 )
                {

                        /* Call the user defined function from within the idle task.  This
                        allows the application designer to add background functionality
                        without the overhead of a separate task.
                        NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
                        CALL A FUNCTION THAT MIGHT BLOCK. */
      FRTOS1_vApplicationIdleHook();
                }
                #endif /* configUSE_IDLE_HOOK */

                /* This conditional compilation should use inequality to 0, not equality
                to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
                user defined low power mode     implementations require
                configUSE_TICKLESS_IDLE to be set to a value other than 1. */
                #if ( configUSE_TICKLESS_IDLE != 0 )
                {
                portTickType xExpectedIdleTime;

                        /* It is not desirable to suspend then resume the scheduler on
                        each iteration of the idle task.  Therefore, a preliminary
                        test of the expected idle time is performed without the
                        scheduler suspended.  The result here is not necessarily
                        valid. */
                        xExpectedIdleTime = prvGetExpectedIdleTime();

                        if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                        {
                                vTaskSuspendAll();
                                {
                                        /* Now the scheduler is suspended, the expected idle
                                        time can be sampled again, and this time its value can
                                        be used. */
                                        configASSERT( xNextTaskUnblockTime >= xTickCount );
                                        xExpectedIdleTime = prvGetExpectedIdleTime();

                                        if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                                        {
                                                traceLOW_POWER_IDLE_BEGIN();
                                                portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
                                                traceLOW_POWER_IDLE_END();
                                        }
                                }
                                (void)xTaskResumeAll();
                        }
                }
                #endif /* configUSE_TICKLESS_IDLE */
        }
}
/*-----------------------------------------------------------*/

#if configUSE_TICKLESS_IDLE != 0

        eSleepModeStatus eTaskConfirmSleepModeStatus( void )
        {
        eSleepModeStatus eReturn = eStandardSleep;

                if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
                {
                        /* A task was made ready while the scheduler was suspended. */
                        eReturn = eAbortSleep;
                }
                else if( xYieldPending != pdFALSE )
                {
                        /* A yield was pended while the scheduler was suspended. */
                        eReturn = eAbortSleep;
                }
                else
                {
                        #if configUSE_TIMERS == 0
                        {
                                /* The idle task exists in addition to the application tasks. */
                                const unsigned portBASE_TYPE uxNonApplicationTasks = 1;

                                /* If timers are not being used and all the tasks are in the
                                suspended list (which might mean they have an infinite block
                                time rather than actually being suspended) then it is safe to
                                turn all clocks off and just wait for external interrupts. */
                                if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
                                {
                                        eReturn = eNoTasksWaitingTimeout;
                                }
                        }
                        #endif /* configUSE_TIMERS */
                }

                return eReturn;
        }
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/

static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
{
unsigned portBASE_TYPE x;

        /* Store the task name in the TCB. */
        for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
        {
                pxTCB->pcTaskName[ x ] = pcName[ x ];

                /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
                configMAX_TASK_NAME_LEN characters just in case the memory after the
                string is not accessible (extremely unlikely). */
                if( pcName[ x ] == 0x00 )
                {
                        break;
                }
        }

        /* Ensure the name string is terminated in the case that the string length
        was greater or equal to configMAX_TASK_NAME_LEN. */
        pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';

        /* This is used as an array index so must ensure it's not too large.  First
        remove the privilege bit if one is present. */
        if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
        {
                uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
        }

        pxTCB->uxPriority = uxPriority;
        #if ( configUSE_MUTEXES == 1 )
        {
                pxTCB->uxBasePriority = uxPriority;
        }
        #endif /* configUSE_MUTEXES */

        vListInitialiseItem( &( pxTCB->xGenericListItem ) );
        vListInitialiseItem( &( pxTCB->xEventListItem ) );

        /* Set the pxTCB as a link back from the xListItem.  This is so we can get
        back to the containing TCB from a generic item in a list. */
        listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );

        /* Event lists are always in priority order. */
        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
        listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );

        #if ( portCRITICAL_NESTING_IN_TCB == 1 )
        {
                pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
        }
        #endif /* portCRITICAL_NESTING_IN_TCB */

        #if ( configUSE_APPLICATION_TASK_TAG == 1 )
        {
                pxTCB->pxTaskTag = NULL;
        }
        #endif /* configUSE_APPLICATION_TASK_TAG */

        #if ( configGENERATE_RUN_TIME_STATS == 1 )
        {
                pxTCB->ulRunTimeCounter = 0UL;
        }
        #endif /* configGENERATE_RUN_TIME_STATS */

        #if ( portUSING_MPU_WRAPPERS == 1 )
        {
                vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
        }
        #else /* portUSING_MPU_WRAPPERS */
        {
                ( void ) xRegions;
                ( void ) usStackDepth;
        }
        #endif /* portUSING_MPU_WRAPPERS */

        #if ( configUSE_NEWLIB_REENTRANT == 1 )
        {
                /* Initialise this task's Newlib reent structure. */
                _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
        }
        #endif /* configUSE_NEWLIB_REENTRANT */
}
/*-----------------------------------------------------------*/

#if ( portUSING_MPU_WRAPPERS == 1 )

        void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
        {
        tskTCB *pxTCB;

                /* If null is passed in here then we are deleting ourselves. */
                pxTCB = prvGetTCBFromHandle( xTaskToModify );

        vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
        }

#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/

static void prvInitialiseTaskLists( void )
{
unsigned portBASE_TYPE uxPriority;

        for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
        {
                vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
        }

        vListInitialise( &xDelayedTaskList1 );
        vListInitialise( &xDelayedTaskList2 );
        vListInitialise( &xPendingReadyList );

        #if ( INCLUDE_vTaskDelete == 1 )
        {
                vListInitialise( &xTasksWaitingTermination );
        }
        #endif /* INCLUDE_vTaskDelete */

        #if ( INCLUDE_vTaskSuspend == 1 )
        {
                vListInitialise( &xSuspendedTaskList );
        }
        #endif /* INCLUDE_vTaskSuspend */

        /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
        using list2. */
        pxDelayedTaskList = &xDelayedTaskList1;
        pxOverflowDelayedTaskList = &xDelayedTaskList2;
}
/*-----------------------------------------------------------*/

static void prvCheckTasksWaitingTermination( void )
{
        #if ( INCLUDE_vTaskDelete == 1 )
        {
                portBASE_TYPE xListIsEmpty;

                /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
                too often in the idle task. */
                while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
                {
                        vTaskSuspendAll();
                                xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
                        ( void ) xTaskResumeAll();

                        if( xListIsEmpty == pdFALSE )
                        {
                                tskTCB *pxTCB;

                                taskENTER_CRITICAL();
                                {
                                        pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
                                        ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
                                        --uxCurrentNumberOfTasks;
                                        --uxTasksDeleted;
                                }
                                taskEXIT_CRITICAL();

                                prvDeleteTCB( pxTCB );
                        }
                }
        }
        #endif /* vTaskDelete */
}
/*-----------------------------------------------------------*/

static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
{
        /* The list item will be inserted in wake time order. */
        listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );

        if( xTimeToWake < xTickCount )
        {
                /* Wake time has overflowed.  Place this item in the overflow list. */
                vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
        }
        else
        {
                /* The wake time has not overflowed, so we can use the current block list. */
                vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );

                /* If the task entering the blocked state was placed at the head of the
                list of blocked tasks then xNextTaskUnblockTime needs to be updated
                too. */
                if( xTimeToWake < xNextTaskUnblockTime )
                {
                        xNextTaskUnblockTime = xTimeToWake;
                }
        }
}
/*-----------------------------------------------------------*/

static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
{
tskTCB *pxNewTCB;

        /* Allocate space for the TCB.  Where the memory comes from depends on
        the implementation of the port malloc function. */
        pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );

        if( pxNewTCB != NULL )
        {
                /* Allocate space for the stack used by the task being created.
                The base of the stack memory stored in the TCB so the task can
                be deleted later if required. */
                pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                if( pxNewTCB->pxStack == NULL )
                {
                        /* Could not allocate the stack.  Delete the allocated TCB. */
                        vPortFree( pxNewTCB );
                        pxNewTCB = NULL;
                }
                else
                {
                        /* Just to help debugging. */
                        ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
                }
        }

        return pxNewTCB;
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
        {
        volatile tskTCB *pxNextTCB, *pxFirstTCB;
        unsigned portBASE_TYPE uxTask = 0;

                if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
                {
                        listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, tskTCB, pxList );

                        /* Populate an xTaskStatusType structure within the
                        pxTaskStatusArray array for each task that is referenced from
                        pxList.  See the definition of xTaskStatusType in task.h for the
                        meaning of each xTaskStatusType structure member. */
                        do
                        {
                                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, tskTCB, pxList );

                                pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
                                pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
                                pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
                                pxTaskStatusArray[ uxTask ].eCurrentState = eState;
                                pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;

                                #if ( configUSE_MUTEXES == 1 )
                                {
                                        pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
                                }
                                #else
                                {
                                        pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
                                }
                                #endif

                                #if ( configGENERATE_RUN_TIME_STATS == 1 )
                                {
                                        pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
                                }
                                #else
                                {
                                        pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
                                }
                                #endif

                                #if ( portSTACK_GROWTH > 0 )
                                {
                                        ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
                                }
                                #else
                                {
                                        pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
                                }
                                #endif

                                uxTask++;

                        } while( pxNextTCB != pxFirstTCB );
                }

                return uxTask;
        }

#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )

        static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
        {
        register unsigned short usCount = 0U;

                while( *pucStackByte == tskSTACK_FILL_BYTE )
                {
                        pucStackByte -= portSTACK_GROWTH;
                        usCount++;
                }

                usCount /= sizeof( portSTACK_TYPE );

                return usCount;
        }

#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )

        unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
        {
        tskTCB *pxTCB;
        unsigned char *pcEndOfStack;
        unsigned portBASE_TYPE uxReturn;

                pxTCB = prvGetTCBFromHandle( xTask );

                #if portSTACK_GROWTH < 0
                {
                        pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
                }
                #else
                {
                        pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
                }
                #endif

                uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );

                return uxReturn;
        }

#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelete == 1 )

        static void prvDeleteTCB( tskTCB *pxTCB )
        {
                /* This call is required specifically for the TriCore port.  It must be
                above the vPortFree() calls.  The call is also used by ports/demos that
                want to allocate and clean RAM statically. */
                portCLEAN_UP_TCB( pxTCB );

                /* Free up the memory allocated by the scheduler for the task.  It is up to
                the task to free any memory allocated at the application level. */
                vPortFreeAligned( pxTCB->pxStack );
                vPortFree( pxTCB );
        }

#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )

        xTaskHandle xTaskGetCurrentTaskHandle( void )
        {
        xTaskHandle xReturn;

                /* A critical section is not required as this is not called from
                an interrupt and the current TCB will always be the same for any
                individual execution thread. */
                xReturn = pxCurrentTCB;

                return xReturn;
        }

#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )

        portBASE_TYPE xTaskGetSchedulerState( void )
        {
        portBASE_TYPE xReturn;

                if( xSchedulerRunning == pdFALSE )
                {
                        xReturn = taskSCHEDULER_NOT_STARTED;
                }
                else
                {
                        if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
                        {
                                xReturn = taskSCHEDULER_RUNNING;
                        }
                        else
                        {
                                xReturn = taskSCHEDULER_SUSPENDED;
                        }
                }

                return xReturn;
        }

#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

        void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
        {
        tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;

                /* If the mutex was given back by an interrupt while the queue was
                locked then the mutex holder might now be NULL. */
                if( pxMutexHolder != NULL )
                {
                        if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
                        {
                                /* Adjust the mutex holder state to account for its new priority. */
                                listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                                /* If the task being modified is in the ready state it will need to
                                be moved into a new list. */
                                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
                                {
                                        if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                                        {
                                                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                                        }

                                        /* Inherit the priority before being moved into the new list. */
                                        pxTCB->uxPriority = pxCurrentTCB->uxPriority;
                                        prvAddTaskToReadyList( pxTCB );
                                }
                                else
                                {
                                        /* Just inherit the priority. */
                                        pxTCB->uxPriority = pxCurrentTCB->uxPriority;
                                }

                                traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
                        }
                }
        }

#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

        void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
        {
        tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;

                if( pxMutexHolder != NULL )
                {
                        if( pxTCB->uxPriority != pxTCB->uxBasePriority )
                        {
                                /* We must be the running task to be able to give the mutex back.
                                Remove ourselves from the ready list we currently appear in. */
                                if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
                                {
                                        taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                                }

                                /* Disinherit the priority before adding the task into the new
                                ready list. */
                                traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
                                pxTCB->uxPriority = pxTCB->uxBasePriority;
                                listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                                prvAddTaskToReadyList( pxTCB );
                        }
                }
        }

#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/

#if ( portCRITICAL_NESTING_IN_TCB == 1 )

        void vTaskEnterCritical( void )
        {
                portDISABLE_INTERRUPTS();

                if( xSchedulerRunning != pdFALSE )
                {
                        ( pxCurrentTCB->uxCriticalNesting )++;
                }
        }

#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/

#if ( portCRITICAL_NESTING_IN_TCB == 1 )

        void vTaskExitCritical( void )
        {
                if( xSchedulerRunning != pdFALSE )
                {
                        if( pxCurrentTCB->uxCriticalNesting > 0U )
                        {
                                ( pxCurrentTCB->uxCriticalNesting )--;

                                if( pxCurrentTCB->uxCriticalNesting == 0U )
                                {
                                        portENABLE_INTERRUPTS();
                                }
                        }
                }
        }

#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )

        void vTaskList( unsigned char *pcWriteBuffer, size_t bufSize )
        {
        xTaskStatusType *pxTaskStatusArray;
        volatile unsigned portBASE_TYPE uxArraySize, x;
        char cStatus;

                /*
                 * PLEASE NOTE:
                 *
                 * This function is provided for convenience only, and is used by many
                 * of the demo applications.  Do not consider it to be part of the
                 * scheduler.
                 *
                 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
                 * uxTaskGetSystemState() output into a human readable table that
                 * displays task names, states and stack usage.
                 *
                 * vTaskList() has a dependency on the sprintf() C library function that
                 * might bloat the code size, use a lot of stack, and provide different
                 * results on different platforms.  An alternative, tiny, third party,
                 * and limited functionality implementation of sprintf() is provided in
                 * many of the FreeRTOS/Demo sub-directories in a file called
                 * printf-stdarg.c (note printf-stdarg.c does not provide a full
                 * snprintf() implementation!).
                 *
                 * It is recommended that production systems call uxTaskGetSystemState()
                 * directly to get access to raw stats data, rather than indirectly
                 * through a call to vTaskList().
                 */


                /* Make sure the write buffer does not contain a string. */
                *pcWriteBuffer = 0x00;

                /* Take a snapshot of the number of tasks in case it changes while this
                function is executing. */
                uxArraySize = uxCurrentNumberOfTasks;

                /* Allocate an array index for each task. */
                pxTaskStatusArray = (xTaskStatusType *)pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );

                if( pxTaskStatusArray != NULL )
                {
                        /* Generate the (binary) data. */
                        uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );

                        /* Create a human readable table from the binary data. */
                        for( x = 0; x < uxArraySize; x++ )
                        {
                                switch( pxTaskStatusArray[ x ].eCurrentState )
                                {
                                case eReady:            cStatus = tskREADY_CHAR;
                                                                        break;

                                case eBlocked:          cStatus = tskBLOCKED_CHAR;
                                                                        break;

                                case eSuspended:        cStatus = tskSUSPENDED_CHAR;
                                                                        break;

                                case eDeleted:          cStatus = tskDELETED_CHAR;
                                                                        break;

                                default:                        /* Should not get here, but it is included
                                                                        to prevent static checking errors. */
                                                                        cStatus = 0x00;
                                                                        break;
                                }
#if 0
                                sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
#else /* << EST */
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)pxTaskStatusArray[ x ].pcTaskName);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"\t\t");
              UTIL1_chcat(pcWriteBuffer, bufSize, (unsigned char)cStatus);
              UTIL1_chcat(pcWriteBuffer, bufSize, (unsigned char)'\t');
              UTIL1_strcatNum32u((unsigned char*)pcWriteBuffer, bufSize, pxTaskStatusArray[ x ].uxCurrentPriority);
              UTIL1_chcat(pcWriteBuffer, bufSize, (unsigned char)'\t');
              UTIL1_strcatNum32u(pcWriteBuffer, bufSize, pxTaskStatusArray[ x ].usStackHighWaterMark);
              UTIL1_chcat(pcWriteBuffer, bufSize, (unsigned char)'\t');
              UTIL1_strcatNum32u(pcWriteBuffer, bufSize, pxTaskStatusArray[ x ].xTaskNumber);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"\r\n");
#endif
                                pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
                        }

                        /* Free the array again. */
                        vPortFree( pxTaskStatusArray );
                }
        }

#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/

#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )

        void vTaskGetRunTimeStats( unsigned char *pcWriteBuffer , size_t bufSize)
        {
        xTaskStatusType *pxTaskStatusArray;
        volatile unsigned portBASE_TYPE uxArraySize, x;
        unsigned long ulTotalTime, ulStatsAsPercentage;

                /*
                 * PLEASE NOTE:
                 *
                 * This function is provided for convenience only, and is used by many
                 * of the demo applications.  Do not consider it to be part of the
                 * scheduler.
                 *
                 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
                 * of the uxTaskGetSystemState() output into a human readable table that
                 * displays the amount of time each task has spent in the Running state
                 * in both absolute and percentage terms.
                 *
                 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
                 * function that might bloat the code size, use a lot of stack, and
                 * provide different results on different platforms.  An alternative,
                 * tiny, third party, and limited functionality implementation of
                 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
                 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
                 * a full snprintf() implementation!).
                 *
                 * It is recommended that production systems call uxTaskGetSystemState()
                 * directly to get access to raw stats data, rather than indirectly
                 * through a call to vTaskGetRunTimeStats().
                 */

                /* Make sure the write buffer does not contain a string. */
                *pcWriteBuffer = 0x00;

                /* Take a snapshot of the number of tasks in case it changes while this
                function is executing. */
                uxArraySize = uxCurrentNumberOfTasks;

                /* Allocate an array index for each task. */
                pxTaskStatusArray = (xTaskStatusType *)pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );

                if( pxTaskStatusArray != NULL )
                {
                        /* Generate the (binary) data. */
                        uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );

                        /* For percentage calculations. */
                        ulTotalTime /= 100UL;

                        /* Avoid divide by zero errors. */
                        if( ulTotalTime > 0 )
                        {
                                /* Create a human readable table from the binary data. */
                                for( x = 0; x < uxArraySize; x++ )
                                {
                                        /* What percentage of the total run time has the task used?
                                        This will always be rounded down to the nearest integer.
                                        ulTotalRunTimeDiv100 has already been divided by 100. */
                                        ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;

                                        if( ulStatsAsPercentage > 0UL )
                                        {
                                                #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                                                {
                                                  sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
                                                }
                                                #else
                                                {
                                                        /* sizeof( int ) == sizeof( long ) so a smaller
                                                        printf() library can be used. */
#if 0
                                                        sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
#else /* << EST */
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)pxTaskStatusArray[ x ].pcTaskName);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"\t\t");
              UTIL1_strcatNum32u((unsigned char*)pcWriteBuffer, bufSize, pxTaskStatusArray[ x ].ulRunTimeCounter);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"\t\t");
              UTIL1_strcatNum32u(pcWriteBuffer, bufSize, ulStatsAsPercentage);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"%\r\n");
#endif
                                                }
                                                #endif
                                        }
                                        else
                                        {
                                                /* If the percentage is zero here then the task has
                                                consumed less than 1% of the total run time. */
                                                #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                                                {
                                                        sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
                                                }
                                                #else
                                                {
                                                        /* sizeof( int ) == sizeof( long ) so a smaller
                                                        printf() library can be used. */
#if 0
              sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
#else /* << EST */
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)pxTaskStatusArray[ x ].pcTaskName);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"\t\t");
              UTIL1_strcatNum32u((unsigned char*)pcWriteBuffer, bufSize, pxTaskStatusArray[ x ].ulRunTimeCounter);
              UTIL1_strcat(pcWriteBuffer, bufSize, (const unsigned char*)"\t\t<1%\r\n");
#endif
                                                }
                                                #endif
                                        }

                                        pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
                                }
                        }

                        /* Free the array again. */
                        vPortFree( pxTaskStatusArray );
                }
        }

#endif /* configGENERATE_RUN_TIME_STATS */




